Three-dimensional fuzzy control of mini quadrotor UAV trajectory tracking under impact of wind disturbance

摘要

Nowadays, due to advantages of maneuverability, portability and low cost, the mini quadrotor unmanned aerial vehicle (UAV) catches much attention. In some special applications such as narrow space search, stealth detection and cooperative detection in huge region, the mini quadrotor UAV is more suitable than a big one. However, light weight and mini size lead to phenomenon that it is hard for mini quadrotor UAV to use complex control method. Besides, the performance of wind resistant is significant for practicability. In this paper, the under-actuated dynamics, strong nonlinear and coupling characteristics has been analyzed. After that, we propose a three-dimensional fuzzy PID control method for stabilizing attitude control and precise trajectory tracking control. The error, derivative of the error and the second order derivative of the error are the three-dimensional inputs of the controller. After using Simulink, the result shows that the proposed control method realizes precise trajectory tracking and robust attitude control. Furthermore, a kind of turbulent wind field, generated based on Dryden model, is added to disturb the control process. This study shows that three-dimensional fuzzy control method is better than the conventional fuzzy PID method under impact of wind disturbance. Finally, the results prove that our proposed control method has both excellent static and dynamic characteristics.